CN111447542A - Wireless positioning method, equipment and storage device - Google Patents
Wireless positioning method, equipment and storage device Download PDFInfo
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- H—ELECTRICITY
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
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Abstract
The application discloses and provides a wireless positioning method, which is applied to a positioning system in a tunnel, wherein the positioning system comprises at least one first positioning device, a plurality of second positioning devices and a server, wherein at least one second positioning device is used for realizing non-shielding distance measurement with the first positioning device, and the first positioning device, the second positioning device and the server are in wireless connection; the wireless positioning method comprises the following steps: acquiring a current ranging value between first positioning equipment and second positioning equipment, wherein the first positioning equipment and the second positioning equipment are not shielded; obtaining a distance value of the first positioning equipment and the second positioning equipment in the depth direction of the tunnel according to the current ranging value; and obtaining the current coordinate value of the second positioning equipment according to the distance value. By the aid of the method, the position coordinates of the reference base station in the tunnel can be automatically updated, the number of times of continuous repeated measurement of the base station is reduced, and accordingly efficiency of tunnel construction is improved and labor is saved.
Description
Technical Field
The present application relates to the field of wireless positioning technologies, and in particular, to a wireless positioning method, device and storage apparatus.
Background
With the development of transportation industry, people can not leave roads and railways for daily travel and transportation of required industrial supplies and living supplies. The tunnel is often required to be penetrated when a railway and a highway are laid, and construction projects in the tunnel are more and more along with the appearance of subways.
Among them, in the tunnel construction process, a system for determining the position of a constructor or construction equipment using a wireless positioning technology is often required. The tunnel top construction needs to be supported near the excavation face of the tunnel construction, and two movable trolleys are generally used for assisting the construction.
In the prior art, the personnel in the construction area in the tunnel are generally positioned by installing the base station on the trolley (because the tunnel wall is not built, the base station cannot be installed on the tunnel wall), but after the trolley moves, the coordinates of the base station installed on the trolley are measured again for many times by the workers, and the workload of the workers is undoubtedly increased.
Disclosure of Invention
The application provides a method and a system for wireless positioning in a tunnel, which can solve the problem that a mobile base station in the tunnel needs to repeatedly measure the position coordinates of the mobile base station for many times in the prior art.
The technical scheme adopted by the application is as follows: providing a wireless positioning method, wherein the wireless positioning method is applied to a positioning system in a tunnel, the positioning system comprises at least one first positioning device, a plurality of second positioning devices and a server, wherein at least one second positioning device is used for realizing non-occlusion ranging with the first positioning device, and the first positioning device, the second positioning device and the server are in wireless connection; the wireless positioning method comprises the following steps: obtaining a current ranging value between the first positioning device and the second positioning device, wherein the first positioning device and the second positioning device are not shielded; obtaining a distance value of the first positioning device and the second positioning device in the depth direction of the tunnel according to the current ranging value; and obtaining the current coordinate value of the second positioning equipment according to the distance value.
Another technical scheme adopted by the application is as follows: providing a wireless location device comprising a processor, a memory coupled to the processor, and communication circuitry, wherein the memory stores program instructions for implementing any of the above-described wireless location methods; the processor, the communication circuitry to execute the program instructions stored by the memory.
The application adopts another technical scheme that: there is provided a storage device storing a program file capable of implementing any one of the above-described methods
The beneficial effect of this application is: the method comprises the steps of obtaining distance values of a reference base station and a reference label which are arranged in a tunnel at the current moment and used for realizing non-shielding ranging in the depth direction of the tunnel, and directly updating the current coordinate values of the reference base station according to the current distance values of the reference base station and the reference label in the depth direction of the tunnel under the condition of not considering the influences of the width direction of the tunnel and the height direction of the tunnel, so that the position coordinates of the reference base station in the tunnel are automatically updated, the frequency of continuous repeated measurement of the base station is reduced, the tunnel construction efficiency is improved, and labor force is saved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an intra-tunnel wireless location system according to the present application;
FIG. 2 is a schematic structural diagram of a first embodiment of the positioning system in a tunnel according to the present application;
FIG. 3 is a schematic structural diagram of a second embodiment of the intra-tunnel positioning system of the present application;
FIG. 4 is a schematic structural diagram of a third embodiment of the intra-tunnel positioning system of the present application;
FIG. 5 is a flow chart illustrating an embodiment of a wireless location method of the present application;
FIG. 6 is a schematic flow chart of one embodiment of step S500 of the present application;
FIG. 7 is a schematic flow chart diagram illustrating an embodiment of step S600 of the present application;
FIG. 8 is a schematic block diagram of an embodiment of a wireless positioning apparatus of the present application;
fig. 9 is a schematic structural diagram of an embodiment of a memory device according to the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first", "second" and "third" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any indication of the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a wireless positioning system in a tunnel according to the present application. As shown in fig. 1, the wireless positioning system provided in the present application is applied to a construction tunnel, and the positioning system mainly includes at least one first positioning device 100, a plurality of second positioning devices 200, and a server 300.
The first positioning device 100 may be a tag, wherein the tag is an apparatus device to be positioned in an Ultra Wideband (UWB) positioning system, and the tag may be mobile. Optionally, the radio frequency signal emitted from the tag is an UWB ultra wide band signal, and a power module, a motion sensor, an MCU (micro controller Unit) module, an UWB radio frequency module, and the like are integrated inside the tag. The first positioning device 100 in this embodiment may be mounted at a fixed location within the tunnel.
The second positioning device 200 may be a base station, where the base station is used in an ultra-wideband positioning system to perform ranging with a tag, and upload an ID value, a relative distance value, and a Received Signal Strength Indication (RSSI) value of the tag to the server 300. The base station may be integrated with a power module, a Micro-controller Unit (MCU), an ethernet module, a Wireless-Fidelity (Wi-Fi) module, and the like. In this embodiment, the reference base station may be installed on a trolley device in the tunnel.
Optionally, in this application, the first positioning device 100 and the second positioning device 200 may be interchanged, that is, the first positioning device 100 may be a base station, and the second positioning device 200 may be a tag, which is not specifically limited herein. Optionally, the tag and the base station used in the present application are both common tags and base stations, where the base station may also be used as a common base station for positioning and other functions besides being used for the adaptive wireless positioning in the present application. In this embodiment, the tag and the base station perform ranging at a fixed frequency, and report the ranging value to the server 300.
Optionally, the server 300 is an information aggregation processing device, which aggregates the information of each tag uploaded by all base stations, then performs storage processing, calculates statistics, and obtains the positioning coordinates of the tag by using the known coordinates of each base station and the distance data of each base station and the tag by using triangulation and least square methods, and displays the positioning coordinates on the server interface.
It can be understood that, for convenience of describing the wireless positioning method in the tunnel in the present application in detail, in the case that the positioning accuracy of the base station is sufficient, the tunnel is assumed to be locally linearly arranged, and errors generated in the tunnel width direction when the trolley device moves in the tunnel depth direction are ignored.
Three different installation and deployment schemes of the positioning device in the wireless positioning system in the tunnel are described in detail as follows:
wherein, the server side in fig. 2-4 is labeled in the figures. With reference to fig. 2, fig. 2 is a schematic structural diagram of a first embodiment of a positioning system in a tunnel according to the present application. Referring to fig. 2, a first positioning apparatus 100 is first fixedly installed on an inner wall of a constructed tunnel, wherein the first positioning apparatus 100 is installed at a position in an entrance direction of the tunnel. Alternatively, the first positioning device 100 may be a reference tag. Then, a second positioning device 201 is installed on the first trolley in the tunnel, the second positioning device 201 may be a reference base station, and the installation position of the second positioning device 201 ensures that the distance measurement with the first positioning device 100 is not blocked by constructors or other devices as much as possible. Optionally, in other embodiments, the first positioning device 100 may also be a reference base station, and the second positioning device 201 may also be a reference tag, which may be interchanged with each other, and are not specifically limited herein.
Further, the installation of the positioning device on the second trolley in the tunnel can be divided into the following cases:
1. can find the position to install the second positioning equipment on the second trolley
With continued reference to fig. 2, in this embodiment, the second positioning device 202 can be located on the second trolley to perform unobstructed ranging with the first positioning device 100 on the inner wall of the tunnel, and when the two trolleys move along the depth direction of the tunnel, the first positioning device 100 does not obstruct the second positioning devices 202 on the first trolley and the second trolley, respectively.
2. The second positioning equipment can not be installed on the second trolley at the position where the shelterless distance measurement between the second trolley and the first positioning equipment can not be realized
Referring to fig. 3, fig. 3 is a schematic structural diagram of a second embodiment of the tunnel positioning system according to the present application, and as shown in fig. 3, if a position cannot be found on the second trolley for installing the second positioning device to implement non-occlusion ranging with the first positioning device 100, at this time, the first positioning device 101 needs to be installed on the second trolley to find a position, so that the second positioning device 201 on the first trolley and the first positioning device 101 on the second trolley implement non-occlusion ranging under the condition of scene change.
3. The second positioning equipment can not be installed on the second trolley by finding the position for realizing the non-shielding distance measurement between the second positioning equipment and the first positioning equipment and between the second positioning equipment and the second positioning equipment on the first trolley
Referring to fig. 4, fig. 4 is a schematic structural diagram of a third embodiment of the tunnel positioning system of the present application, and if fig. 4 cannot find a position on the second trolley for installing the second positioning device to implement unobstructed ranging with the first positioning device 100 and the second positioning device 201, it is necessary to install positioning devices on the first trolley and the second trolley respectively.
Alternatively, a first positioning device 101 may be mounted on the first trolley and a second positioning device 202 may be mounted on the second trolley, respectively, so that unobstructed ranging can be achieved in case of scene changes. The first positioning device 101 is a reference tag, and the second positioning device 202 is a reference base station. Of course, the second positioning apparatus 202 may be mounted on the first trolley, and the first positioning apparatus 101 may be mounted on the second trolley, which is not limited in this respect.
It is understood that the positioning system of the present application is described in the present application with the number of the tunnel carriages being two, and in other embodiments, the number of the carriages may be plural, and is not limited herein.
In the foregoing embodiments, three different application scenarios of the positioning system in a tunnel of the present application are described in detail below with reference to the self-positioning method of the mobile base station in the three application scenarios, and with reference to fig. 5, fig. 5 is a schematic flowchart of an embodiment of the wireless positioning method of the present application, and as shown in fig. 5, the wireless positioning method provided by the present application includes the following steps:
optionally, before implementing the steps of the wireless positioning method of the present application, the method further includes:
s100, coordinate values of the initial time of the first positioning device and the second positioning device are respectively obtained.
After the positioning devices of the wireless positioning system in the tunnel are deployed, the initial coordinates of each positioning device in the tunnel, that is, the initial coordinates of each reference base station, the reference tag and the common base station, are measured, and the ID values and the initial position coordinate values of the reference tag and the reference base station are further configured into the positioning system as initial values.
In this application, it is assumed that the first positioning device is a reference tag, and the second positioning device is a reference base station.
Referring to fig. 2-4, assume that the spatial coordinates of the positioning device in the wireless positioning system in the tunnel are (Xn, Yn, Zn). X, Y, Z represents three different directions in the tunnel, X is the depth direction of the tunnel, Y is the width direction of the tunnel, and Z is the height direction of the tunnel.
As shown in fig. 2, it can be obtained that the initial coordinate values of the first pointing device 100 are (X1, Y1, Z1), the initial coordinate values of the second pointing device 201 on the first cart are (X2, Y2, Z2), and the initial coordinate values of the second pointing device 202 on the second cart are (X3, Y3, Z3).
Alternatively, in fig. 3, the initial coordinate values of the first pointing device 100 are (X1, Y1, Z1), the initial coordinate values of the second pointing device 201 are (X2, Y2, Z2) and the initial coordinate values of the first pointing device 101 on the second trolley are (X4, Y4, Z4).
Alternatively, in fig. 4, the initial coordinate values of the first pointing device 100 are (X1, Y1, Z1), the initial coordinate values of the second pointing device 201 are (X2, Y2, Z2), the initial coordinate values of the first pointing device 101 on the first trolley are (X5, Y5, Z5) and the initial coordinate values of the second pointing device 202 on the second trolley are (X6, Y6, Z6).
And S200, obtaining an initial difference value of the first positioning equipment and the second positioning equipment in the depth direction of the tunnel according to the coordinate value.
In a similar way, the initial difference values of the first positioning device and the second positioning device in the depth direction of the tunnel are respectively obtained according to the three conditions, and it can be understood that in the application, the tunnel is assumed to be locally linearly arranged, and meanwhile, the error generated in the width direction of the tunnel when the trolley device moves in the depth direction of the tunnel is ignored. That is, in the present application, when the trolley moves toward the tunneling direction, errors generated in the tunnel width direction and the tunnel height direction by the first positioning device and the second positioning device can be ignored, that is, the first positioning device is considered to be unchanged in the Y direction and the Z direction of the tunnel.
Alternatively, fig. 2 may obtain that the initial difference value of the first positioning device 100 and the second positioning device 201 in the tunnel depth direction is △ X1 ═ X2-X1, and the initial difference value of the first positioning device 100 and the second positioning device 202 in the tunnel depth direction is △ X2 ═ X3-X1.
Alternatively, in fig. 3, the initial difference between the first positioning apparatus 100 and the second positioning apparatus 201 in the tunnel depth direction is △ X1 ═ X2-X1, and the initial difference between the first positioning apparatus 100 and the first positioning apparatus 101 in the tunnel depth direction is △ X3 ═ X4-X1.
Alternatively, in fig. 4, the initial difference between the first positioning apparatus 100 and the second positioning apparatus 201 in the tunnel depth direction is △ X1 ═ X2-X1, and the initial difference between the first positioning apparatus 100 and the second positioning apparatus 202 in the tunnel depth direction is △ X4 ═ X6-X1.
S300, judging whether the distance measurement value between the first positioning device and the second positioning device exceeds a preset threshold value.
It can be understood that, in this application, first positioning device and second positioning device are respectively arranged on first platform truck and the second platform truck, and the range finding value between first positioning device and the second positioning device can be within a preset threshold range, and when the range finding value of first positioning device and second positioning device exceeded this preset threshold, at this moment, the range finding value between the two can be inaccurate. Therefore, in the present application, an interval time may be set, for example, re-confirming the ranging values of the first positioning device and the second positioning device every 15 seconds, 30 seconds or 45 seconds, so as to ensure that the first positioning device and the second positioning device are within the measurement threshold range thereof, and ensure the accuracy of positioning.
Alternatively, if it is determined that the ranging value between the first positioning device and the second positioning device exceeds the preset threshold, step S310 is executed. Otherwise, if it is determined that the ranging value between the first positioning device and the second positioning device does not exceed the preset threshold, step S400 is executed.
And S310, re-determining the ranging value between the first positioning equipment and the second positioning equipment.
It can be understood that, as the tunnel construction is excavated forward, the distance measurement value between the first positioning device and the second positioning device gradually advancing inwards in the tunnel inevitably exceeds the measurement range thereof, and at this time, the first positioning device and the second positioning device need to be confirmed again, in this application, the first positioning device may be detached and installed on the tunnel wall closer to the position of the trolley, and the coordinate value of the first positioning device is measured again as an initial value, configured into the system, and then the system is restarted to start operation, that is, step S100 is executed.
It is understood that steps S100-S300 are not essential to implementing the present application, and may be modified or omitted by those skilled in the art according to the actual use situation.
S400, obtaining a current ranging value between the first positioning device and the second positioning device, wherein the first positioning device and the second positioning device are not shielded.
In the three application scenarios described above, the first positioning device (reference tag) and the second positioning device (reference base station) can realize the ranging without shielding when the scenario changes (that is, the tunnel trolley moves in the tunneling direction).
Optionally, the ranging between the reference tag and the reference base station in the present application may be implemented by the following method:
the method comprises the steps that a reference tag (first positioning equipment) sends broadcast information for exploration, a reference base station (second positioning equipment) receives the broadcast information and uploads tag information in the broadcast information to a server, the server collects the tag information and selects a base station identifier, the base station identifier is sent to the tag, the tag conducts ranging according to the base station identifier corresponding to the base station identifier, the base station uploads a ranging result to the server, and the server resolves the tag coordinate according to the base station coordinate and distance data to obtain the position of the tag.
Alternatively, the distance measurement value between the first positioning device 100 and the second positioning device 201 can be d1 and the distance measurement value between the first positioning device 100 and the second positioning device 202 can be d2 according to the algorithm described above in conjunction with fig. 2.
In conjunction with fig. 3, it can be found that the ranging value between the first positioning device 100 and the second positioning device 201 is d1, and the ranging value between the first positioning device 101 and the second positioning device 201 is d 3.
In connection with fig. 4, it can be found that the ranging value between the first positioning device 100 and the second positioning device 201 is d1, and the ranging value between the first positioning device 101 and the second positioning device 202 is d 4.
And S500, obtaining a distance value of the first positioning device and the second positioning device in the depth direction of the tunnel according to the distance measurement value.
Referring to fig. 6, step S500 further includes the following sub-steps:
and S510, performing smooth filtering on each frame of acquired distance measurement value between the first positioning equipment and the second positioning equipment.
In step S510, smoothing filtering is performed on each frame of the range measurement value between all the first positioning devices (reference tags) and the second positioning devices (reference base stations) on the non-self-vehicle, for example, data processing is performed by using kalman filtering, the floating range of the range measurement value is reduced, and the motion trajectory is smoothed, so as to obtain a relatively stable range measurement value.
S520, projecting the range finding value after smooth filtering in the depth direction of the tunnel to obtain the range finding value of the first positioning device and the second positioning device in the depth direction of the tunnel.
Further, projection calculation is carried out on the distance measurement values of all the reference labels after smoothing in the depth direction of the tunnel, and the distance D of the distance measurement values in the depth direction of the tunnel is obtained, wherein the projection distance value D of the distance measurement values in the depth direction meets the following requirements:
the Ya and the Yt respectively represent the coordinates of the reference base station and the reference label in the Y direction of the tunnel, and the Za and the Zt respectively represent the coordinates of the reference base station and the reference label in the Z direction of the tunnel.
Optionally, a projection distance value of the current ranging value between the first positioning device and the second positioning device in the tunnel depth direction may be calculated according to the above relation (1).
For the application scenario in fig. 2, if the distance measurement value D1 and the distance measurement value D2 are respectively substituted into formula (1), it can be obtained that the distance value of the first positioning device 100 and the second positioning device 201 in the tunnel depth direction is D1, and the distance value of the first positioning device 100 and the second positioning device 202 in the tunnel depth direction is D2.
Similarly, for the application scenario in fig. 3, if the distance measurement value D1 and the distance measurement value D3 are substituted into formula (1), it can be obtained that the distance value of the first positioning device 100 and the second positioning device 201 in the tunnel depth direction is D1, and the distance value of the first positioning device 101 and the second positioning device 201 in the tunnel depth direction is D3.
For the application scenario in fig. 4, the distance values D1 and D4 are substituted into formula (1), and the distance values D1 of the first positioning device 100 and the second positioning device 201 in the tunnel depth direction can be obtained. Optionally, in this application scenario, assuming that the first positioning device 101 on the first trolley can perform the ranging calculation with the plurality of second positioning devices on the second trolley, the distance values in the tunnel depth direction calculated by the first positioning device 101 and the plurality of second positioning devices may be averaged, and the average value is denoted as D4.
S600, obtaining the current coordinate value of the second positioning device according to the distance value.
With further reference to fig. 7, step S600 further includes the following sub-steps:
and S610, obtaining a displacement value of the second positioning device in the depth direction of the tunnel according to the initial difference value and the distance value of the first positioning device and the second positioning device in the depth direction of the tunnel.
Optionally, after the projection distance values of the first positioning device and the second positioning device in the tunnel depth direction are obtained in step S500, the displacement value of the second positioning device in the tunnel depth direction relative to the initial time is calculated by combining the initial difference values of the first positioning device and the second positioning device in the tunnel depth direction in step S200.
For the application scenario of fig. 2, the displacement value M1 ═ D1- △ X1 in the tunnel depth direction of the second pointing device 201 with respect to the initial time is calculated, and the displacement value M2 ═ D2- △ X2 in the tunnel depth direction of the second pointing device 202 with respect to the initial time is calculated.
For the application scenario of fig. 3, the displacement value M1 ═ D1- △ X1 of the second pointing device 201 in the tunnel depth direction with respect to the initial time is calculated, and the displacement value M3 ═ D1+ D3- △ X3 of the first pointing device 101 in the tunnel depth direction with respect to the initial time is calculated.
For the application scenario of fig. 4, the displacement value M1 ═ D1- △ X1 of the second positioning device 201 in the tunnel depth direction with respect to the initial time is calculated, and the displacement value M4 ═ D1+ D4+ (X5-X2) - △ X4 of the second positioning device 201 on the second trolley in the tunnel depth direction with respect to the initial time is calculated.
And S620, obtaining the current coordinate value of the second positioning device according to the displacement value in the depth direction of the tunnel.
Optionally, after the position values of the second positioning devices on the first trolley and the second trolley in the depth direction of the tunnel are obtained in the three application scenarios, the coordinates of all the second positioning devices (base stations or reference base stations) on the first trolley and the second trolley in the depth direction of the tunnel may be synchronously updated according to the displacement values.
Optionally, in fig. 2, the updated coordinates in the tunnel depth direction of the second positioning device 201 are X2 ═ X2+ M1, then the current coordinate values of the second positioning device 201 are (X2+ M1, Y2, Z2), and similarly, the updated coordinates in the tunnel depth direction of the second positioning device 202 are X3 ═ X3+ M2, and the current coordinate values are (X3+ M2, Y3, Z3).
In fig. 3, the updated coordinates in the tunnel depth direction of the first positioning device 101 on the second carriage are X4 ═ X4+ M3, and the current coordinate values are (X4+ M3, Y4, and Z4).
In fig. 4, the updated coordinates of the second positioning device 202 on the second cart in the tunnel depth direction are X6 ═ X6+ M4, and the current coordinate values are (X6+ M4, Y6, and Z6).
It can be understood that, under the premise that the coordinates in the tunnel width direction and the tunnel height direction are not changed, the position coordinates of all base stations on the trolley can be updated synchronously as long as the displacement value of one second positioning device (reference base station) on the trolley in the tunnel depth direction relative to the initial time is calculated. And further configuring the updated current coordinate values of all the base stations into a server for storage.
Optionally, the wireless positioning method of the present application further includes:
s700, positioning calculation is carried out on other first positioning equipment in the tunnel according to the current coordinate value of the second positioning equipment.
It can be understood that after the trolley in the tunnel moves, the positions of all base stations (second positioning devices) on the trolley change, and after the wireless positioning method is adopted, the position coordinates of all base stations on the trolley can be updated in real time. After the current position coordinate information of the reference base station is obtained, positioning calculation may be performed on other first positioning devices (reference tags) in the tunnel, where the first positioning devices may be in the form of a worker plate, a wrist band, a bracelet, and the like fixed on a safety helmet of a constructor, and of course, may be in other forms, and are not limited specifically here.
Alternatively, the location-ranging calculation may employ methods including, but not limited to, ranging plus triangulation based, TDOA time difference location based on distance differences, and the like.
In the above embodiment, by obtaining the distance values of the reference base station and the reference tag in the depth direction of the tunnel, which are set in the tunnel at the current moment and implement the non-blocking ranging, and under the condition that the influences of the width direction of the tunnel and the height direction of the tunnel are not considered, the current coordinate value of the reference base station is directly updated according to the current distance values of the reference base station and the reference tag in the depth direction of the tunnel, so that the position coordinate of the reference base station in the tunnel is automatically updated, the number of times of continuous repeated measurement of the base station is reduced, the efficiency of tunnel construction is improved, and the labor force is saved.
Please refer to fig. 8, fig. 8 is a schematic structural diagram of an embodiment of a wireless positioning apparatus according to the present application. As shown in fig. 8, the apparatus includes a processor 11, and a memory 12 and a communication circuit 13 coupled to the processor 11.
The memory 12 stores program instructions for implementing the wireless location method of any of the above.
The processor 11, communication circuit 13 are used to execute the program instructions stored by the memory 12.
The processor 11 may also be referred to as a CPU (Central Processing Unit). The processor 11 may be an integrated circuit chip having signal processing capabilities. The processor 11 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Referring to fig. 9, fig. 9 is a schematic structural diagram of an embodiment of a memory device according to the present application. The storage device of the present application stores a program file 21 capable of implementing all the methods described above, wherein the program file 21 may be stored in the storage device in the form of a software product, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage device includes: various media capable of storing program codes, such as a usb disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or terminal devices, such as a computer, a server, a mobile phone, and a tablet.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
From the foregoing, it will be readily appreciated by those skilled in the art that the present application provides.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. A wireless positioning method is applied to a positioning system in a tunnel, and the positioning system comprises at least one first positioning device, a plurality of second positioning devices and a server, wherein at least one second positioning device is used for realizing non-shielding ranging with the first positioning device, and the first positioning device, the second positioning devices and the server are in wireless connection;
the wireless positioning method comprises the following steps:
obtaining a current ranging value between the first positioning device and the second positioning device, wherein the first positioning device and the second positioning device are not shielded;
obtaining a distance value of the first positioning device and the second positioning device in the depth direction of the tunnel according to the current ranging value;
and obtaining the current coordinate value of the second positioning equipment according to the distance value.
2. The wireless positioning method of claim 1, wherein obtaining the distance value of the first positioning device and the second positioning device in the tunnel depth direction according to the current ranging value further comprises:
performing smooth filtering on each acquired frame of ranging value between the first positioning equipment and the second positioning equipment;
projecting the range finding value after smooth filtering in the depth direction of the tunnel to obtain the distance values of the first positioning device and the second positioning device in the depth direction of the tunnel.
3. The method of claim 1, wherein obtaining the current ranging value between the first device and the second positioning device further comprises:
respectively acquiring coordinate values of the first positioning equipment and the second positioning equipment at the initial moment;
and obtaining an initial difference value of the first positioning device and the second positioning device in the depth direction of the tunnel according to the coordinate value.
4. The wireless positioning method of claim 3, wherein obtaining the current coordinate value of the second positioning device according to the distance value further comprises:
obtaining a displacement value of the second positioning device in the tunnel depth direction according to the initial difference value of the first positioning device and the second positioning device in the tunnel depth direction and the distance value;
and obtaining the current coordinate value of the second positioning equipment according to the displacement value in the depth direction of the tunnel.
5. The method of claim 1, wherein obtaining the current ranging value between the first positioning device and the second positioning device further comprises:
judging whether a distance measurement value between the first positioning equipment and the second positioning equipment exceeds a preset threshold value or not;
if the distance measurement value exceeds the preset distance measurement value, re-determining the distance measurement value between the first positioning equipment and the second positioning equipment;
and if the current ranging value does not exceed the preset range, executing the step of acquiring the current ranging value between the first positioning equipment and the second positioning equipment.
6. The method of claim 1, further comprising:
and performing positioning calculation on other first positioning equipment in the tunnel according to the current coordinate value of the second positioning equipment.
7. The method of claim 1, wherein the first positioning device and the second positioning device are one of a positioning base station or a reference positioning tag.
8. The wireless positioning method according to claim 1, wherein the coordinate values of the first positioning device and the second positioning device in the height direction and the width direction of the tunnel are constant.
9. A wireless location device comprising a processor, a memory coupled to the processor, and communication circuitry, wherein,
the memory stores program instructions for implementing a wireless location method as claimed in any one of claims 1-8;
the processor, the communication circuitry to execute the program instructions stored by the memory.
10. A storage device in which a program file capable of implementing the method according to any one of claims 1 to 8 is stored.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811613338.9A CN111447542A (en) | 2018-12-27 | 2018-12-27 | Wireless positioning method, equipment and storage device |
| US16/396,691 US10667091B1 (en) | 2018-12-27 | 2019-04-28 | Wireless positioning method and server and storage medium with the same |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811613338.9A CN111447542A (en) | 2018-12-27 | 2018-12-27 | Wireless positioning method, equipment and storage device |
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| CN111447542A true CN111447542A (en) | 2020-07-24 |
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| CN201811613338.9A Pending CN111447542A (en) | 2018-12-27 | 2018-12-27 | Wireless positioning method, equipment and storage device |
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| US (1) | US10667091B1 (en) |
| CN (1) | CN111447542A (en) |
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| US10667091B1 (en) | 2020-05-26 |
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Application publication date: 20200724 |